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Footstep Planner Algorithm for a Lower Limb Exoskeleton Climbing Stairs

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Interactive Collaborative Robotics (ICR 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10459))

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Abstract

In this paper, a footstep planning algorithm for a lower limb exoskeleton climbing stairs is presented. The algorithm relies on having a height map of the environment, and uses two procedures: partial decomposition of the supporting surface into convex obstacle-free regions, and optimization of the foot step position implemented as a quadratic program. These two methods are discussed in detail in the paper, and the simulation results are shown. It is demonstrated that the algorithm works for different staircases, and even for the staircases with obstacles on them.

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Acknowledgements

Supported from grant of the President of the Russian Federation for young scientists MК-2701.2017.8.

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Authors and Affiliations

  1. Southwest State University, Kursk, Russia

    Sergey Jatsun, Sergei Savin & Andrey Yatsun

Authors
  1. Sergey Jatsun
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  2. Sergei Savin
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  3. Andrey Yatsun
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Corresponding author

Correspondence to Sergei Savin .

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Editors and Affiliations

  1. SPIIRAS , St. Petersburg, Russia

    Andrey Ronzhin

  2. Technical University of Munich, Munich, Germany

    Gerhard Rigoll

  3. Tomsk State University , Tomsk, Russia

    Roman Meshcheryakov

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Jatsun, S., Savin, S., Yatsun, A. (2017). Footstep Planner Algorithm for a Lower Limb Exoskeleton Climbing Stairs. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2017. Lecture Notes in Computer Science(), vol 10459. Springer, Cham. https://doi.org/10.1007/978-3-319-66471-2_9

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  • DOI: https://doi.org/10.1007/978-3-319-66471-2_9

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  • Print ISBN: 978-3-319-66470-5

  • Online ISBN: 978-3-319-66471-2

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